Abstract
This article focuses on critically stable linear systems and proposes an approach to address anti-integrator windup that guarantees global asymptotic closed-loop stability and a desired closed-loop performance. Specifically, given a dynamic state or output feedback compensator "containing" integral action, that has been designed ignoring constraints, the compensator dynamics are modified, via a standard anti-windup modification, whenever the input is saturated. The compensator gains and the anti-windup gain matrix are then designed such that the behavior of the closed-loop system under the dynamic feedback controller can be reduced, arbitrarily fast, to that under a static feedback compensator that is globally stabilizing. The ability of the modified compensator to reject constant exogenous signals is also quantified.
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